.. _program_listing_file__tmp_ws_src_dynamixel_workbench_dynamixel_workbench_toolbox_include_dynamixel_workbench_toolbox_dynamixel_workbench.h:

Program Listing for File dynamixel_workbench.h
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_dynamixel_workbench_dynamixel_workbench_toolbox_include_dynamixel_workbench_toolbox_dynamixel_workbench.h>` (``/tmp/ws/src/dynamixel_workbench/dynamixel_workbench_toolbox/include/dynamixel_workbench_toolbox/dynamixel_workbench.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*******************************************************************************
   * Copyright 2018 ROBOTIS CO., LTD.
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   *     http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   *******************************************************************************/
   
   /* Authors: Taehun Lim (Darby) */
   
   #ifndef DYNAMIXEL_WORKBENCH_H_
   #define DYNAMIXEL_WORKBENCH_H_
   
   #include "dynamixel_driver.h"
   
   class DynamixelWorkbench : public DynamixelDriver
   {
    public:
     DynamixelWorkbench();
     ~DynamixelWorkbench();
   
     bool torque(uint8_t id, int32_t onoff, const char **log = NULL);
     bool torqueOn(uint8_t id, const char **log = NULL);
     bool torqueOff(uint8_t id, const char **log = NULL);
   
     bool changeID(uint8_t id, uint8_t new_id, const char **log = NULL);
     bool changeBaudrate(uint8_t id, uint32_t new_baudrate, const char **log = NULL);
     bool changeProtocolVersion(uint8_t id, uint8_t version, const char **log = NULL);
   
     bool itemWrite(uint8_t id, const char *item_name, int32_t data, const char **log = NULL);
     bool itemRead(uint8_t id, const char *item_name, int32_t *data, const char **log = NULL);
   
     bool led(uint8_t id, int32_t onoff, const char **log = NULL);
     bool ledOn(uint8_t id, const char **log = NULL);
     bool ledOff(uint8_t id, const char **log = NULL);
   
     bool setNormalDirection(uint8_t id, const char **log = NULL);
     bool setReverseDirection(uint8_t id, const char **log = NULL);
     
     bool setVelocityBasedProfile(uint8_t id, const char **log = NULL);
     bool setTimeBasedProfile(uint8_t id, const char **log = NULL);
   
     bool setSecondaryID(uint8_t id, uint8_t secondary_id, const char **log = NULL);
   
     bool setCurrentControlMode(uint8_t id, const char **log = NULL);
     bool setTorqueControlMode(uint8_t id, const char **log = NULL);
     bool setVelocityControlMode(uint8_t id, const char **log = NULL);  
     bool setPositionControlMode(uint8_t id, const char **log = NULL);  
     bool setExtendedPositionControlMode(uint8_t id, const char **log = NULL);
     bool setMultiTurnControlMode(uint8_t id, const char **log = NULL);
     bool setCurrentBasedPositionControlMode(uint8_t id, const char **log = NULL);
     bool setPWMControlMode(uint8_t id, const char **log = NULL);
   
     bool setOperatingMode(uint8_t id, uint8_t index, const char **log = NULL);
   
     bool jointMode(uint8_t id, int32_t velocity = 0, int32_t acceleration = 0, const char **log = NULL);
     bool wheelMode(uint8_t id, int32_t acceleration = 0, const char **log = NULL);
     bool currentBasedPositionMode(uint8_t id, int32_t current = 0, const char **log = NULL);
   
     bool goalPosition(uint8_t id, int value, const char **log = NULL);    //keep compatibility with older codes
     // bool goalPosition(uint8_t id, int32_t value, const char **log = NULL);
     bool goalPosition(uint8_t id, float radian, const char **log = NULL);
   
     bool goalSpeed(uint8_t id, int value, const char **log = NULL);       //keep compatibility with older codes
     bool goalVelocity(uint8_t id, int value, const char **log = NULL);    //keep compatibility with older codes  
     // bool goalVelocity(uint8_t id, int32_t value, const char **log = NULL);
     bool goalVelocity(uint8_t id, float velocity, const char **log = NULL);
   
     bool getPresentPositionData(uint8_t id, int32_t* data, const char **log = NULL);
     bool getRadian(uint8_t id, float* radian, const char **log = NULL);
   
     bool getPresentVelocityData(uint8_t id, int32_t* data, const char **log = NULL);
     bool getVelocity(uint8_t id, float* velocity, const char **log = NULL);
   
     int32_t convertRadian2Value(uint8_t id, float radian);
     float convertValue2Radian(uint8_t id, int32_t value);
   
     int32_t convertRadian2Value(float radian, int32_t max_position, int32_t min_position, float max_radian, float min_radian);
     float convertValue2Radian(int32_t value, int32_t max_position, int32_t min_position, float max_radian, float min_radian);
   
     int32_t convertVelocity2Value(uint8_t id, float velocity);
     float convertValue2Velocity(uint8_t id, int32_t value);
   
     int16_t convertCurrent2Value(uint8_t id, float current);
     int16_t convertCurrent2Value(float current);
     float convertValue2Current(uint8_t id, int16_t value);
     float convertValue2Current(int16_t value);
   
     float convertValue2Load(int16_t value);
   };
   
   #endif /*DYNAMIXEL_WORKBENCH_H_*/